Drive mechanisms for surgical instruments

ABSTRACT

A surgical instrument for use with a robotic surgical system includes a knife blade configured to cut tissue and a knife tube coupled to the knife blade and configured to translate to move the knife blade for cutting tissue. The surgical instrument also includes a gearbox assembly coupleable to a robotic surgical system and configured to translate the knife tube to move the knife blade for cutting tissue and a knife blade lock operably coupled to the gearbox assembly. The knife blade lock is movable from a locked position wherein the knife blade lock prevents translation of the knife tube to an unlocked position in response to coupling of the gearbox assembly to the robotic surgical system wherein the knife tube is permitted to translate to move the knife blade for cutting tissue.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.16/785,910, filed on Feb. 10, 2020, now U.S. Pat. No. 11,648,023.

INTRODUCTION

The present disclosure relates to surgical instruments and, morespecifically, to drive mechanisms for surgical instruments for use inrobotic surgical systems.

BACKGROUND

Robotic surgical systems are increasingly utilized in various surgicalprocedures. Some robotic surgical systems include a console supporting arobotic arm. One or more different surgical instruments may beconfigured for use with the robotic surgical system and selectivelymountable to the robotic arm. The robotic arm provides one or moreinputs to the mounted surgical instrument to enable operation of themounted surgical instrument.

The number, type, and configuration of inputs provided by the roboticarm of a robotic surgical system are constraints in the design ofsurgical instruments configured for use with the robotic surgicalsystem. That is, in designing a surgical instrument compatible formounting on and use with the robotic arm of a robotic surgical system,consideration should be given to determining how to utilize theavailable inputs provided by the robotic arm to achieve the desiredfunctionality of the surgical instrument.

SUMMARY

As used herein, the term “distal” refers to the portion that is beingdescribed which is further from a surgeon, while the term “proximal”refers to the portion that is being described which is closer to asurgeon. The terms “about,” substantially,” and the like, as utilizedherein, are meant to account for manufacturing, material, environmental,use, and/or measurement tolerances and variations. Further, to theextent consistent, any of the aspects described herein may be used inconjunction with any or all of the other aspects described herein.

Provided in accordance with aspects of the present disclosure is asurgical instrument for use with a robotic surgical system. The surgicalinstrument includes a housing, a shaft extending distally from thehousing, and an end effector assembly extending distally from the shaft.The end effector assembly includes first and second jaw members. Atleast the first jaw member is movable relative to the second jaw memberfrom a spaced-apart position to an approximated position to grasp tissuetherebetween. The surgical instrument also includes a knife bladeconfigured to cut tissue and a knife tube coupled to the knife blade andextending from the housing through the shaft. The knife tube isconfigured to translate to move the knife blade between the first andsecond jaw members for cutting tissue grasped therebetween. The surgicalinstrument also includes a gearbox assembly disposed within the housing.The gearbox assembly includes a drive input configured to receive arotational input from a robotic surgical system and an input shaftoperably coupled to the drive input and the knife tube. The drive inputis configured to drive rotation of the input shaft in response torotational input received by the drive input to translate the knifetube. The surgical instrument also includes a knife blade lock operablycoupled to the drive input of the gearbox assembly. The knife blade lockis movable between a locked position wherein the knife blade lockengages the drive input to prevent rotation of the drive input and anunlocked position wherein the knife lock is disengaged from the driveinput such that the drive input is permitted to rotate in response toreceiving the rotational input.

In an aspect of the present disclosure, the surgical instrument includesa biasing member disposed within the housing and operably coupled to theknife blade lock. The biasing member is configured to bias the knifeblade lock into the locked position.

In another aspect of the present disclosure, the knife blade lockincludes a plurality of protrusions extending from an annular bodyportion.

In another aspect of the present disclosure, the annular body portion ofthe knife blade lock defines a plurality of teeth configured tointerlock with a plurality of teeth defined by the drive input when theknife blade lock is in the locked position.

In yet another aspect of the present disclosure, the plurality ofprotrusions extends distally from a distal end of the housing when theknife blade lock is in the locked position.

In still another aspect of the present disclosure, the plurality ofprotrusions extends through an aperture defined through a proximal endof the housing.

In still yet another aspect of the present disclosure, the drive inputincludes at least one distally extending finger disposed through anaperture defined by the annular body portion of the knife blade lock.

In another aspect of the present disclosure, the knife blade lock isconfigured to be contacted and moved distally by an instrument interfaceof the robotic surgical system upon coupling of the surgical instrumentto the robotic surgical system to move the knife blade lock to theunlocked position.

In another aspect of the present disclosure, the gearbox assemblyincludes an input gear, a central gear, and a lead screw. The input gearis engaged to a distal end portion of the input shaft. Rotational inputprovided to the drive input drives rotation of the input shaft when theknife blade lock is in the unlocked position to drive rotation of theinput gear. The central gear defines an internal threading and anexternal threading in meshed engagement with the input gear. The leadscrew extends through the central gear and is threadingly engaged withthe internal threading of the central gear. Rotation of the central gearin response to rotational input provided to the drive input translatesthe lead screw to translate the knife tube, thereby moving the knifeblade between the first and second jaw members.

Also provided in accordance with aspects of the present disclosure is asurgical instrument for use with a robotic surgical system including aknife blade configured to cut tissue, a knife tube coupled to the knifeblade and configured to translate to move the knife blade for cuttingtissue, and a gearbox assembly. The gearbox assembly includes a driveinput configured to receive a rotational input from a robotic surgicalsystem and an input shaft operably coupled to the drive input and theknife tube. The drive input is configured to drive rotation of the inputshaft in response to rotational input received by the drive input totranslate the knife tube. The surgical instrument also includes a knifeblade lock operably coupled to the drive input of the gearbox assembly.The knife blade lock is movable between a locked position wherein theknife blade lock engages the drive input to prevent rotation of thedrive input and an unlocked position wherein the knife lock isdisengaged from the drive input such that the drive input is permittedto rotate in response to receiving the rotational input to translate theknife tube and move the knife blade.

In an aspect of the present disclosure, the surgical instrument includesa biasing member operably coupled to the knife blade lock and configuredto bias the knife blade lock into the locked position.

In another aspect of the present disclosure, the knife blade lockincludes a plurality of protrusions extending from an annular bodyportion.

In another aspect of the present disclosure, the annular body portion ofthe knife blade lock defines a plurality of teeth configured tointerlock with a plurality of teeth defined by the drive input when theknife blade lock is in the locked position.

In yet another aspect of the present disclosure, the drive inputincludes at least one distally extending finger disposed through anaperture defined by the annular body portion of the knife blade lock.

In still another aspect of the present disclosure, the knife blade lockis configured to be contacted and moved distally by an instrumentinterface of the robotic surgical system upon coupling of the surgicalinstrument to the robotic surgical system to move the knife blade lockto the unlocked position.

In still yet another aspect of the present disclosure, the gearboxassembly includes and input gear, a central gear, and a lead screw. Theinput gear is engaged to a distal end portion of the input shaft,wherein rotational input provided to the drive input drives rotation ofthe input shaft when the knife blade lock is in the unlocked position todrive rotation of the input gear. The central gear defines an internalthreading and an external threading in meshed engagement with the inputgear. The lead screw extends through the central gear and is threadinglyengaged with the internal threading of the central gear, whereinrotation of the central gear in response to rotational input provided tothe drive input translates the lead screw to translate the knife tube,thereby moving the knife blade to cut tissue.

Also provided in accordance with aspects of the present disclosure is asurgical instrument for use with a robotic surgical system including aknife blade configured to cut tissue and a knife tube coupled to theknife blade and configured to translate to move the knife blade forcutting tissue. The surgical instrument also includes a gearbox assemblycoupleable to a robotic surgical system and configured to translate theknife tube to move the knife blade for cutting tissue and a knife bladelock operably coupled to the gearbox assembly. The knife blade lock ismovable from a locked position wherein the knife blade lock preventstranslation of the knife tube to an unlocked position in response tocoupling of the gearbox assembly to the robotic surgical system whereinthe knife tube is permitted to translate to move the knife blade forcutting tissue.

In an aspect of the present disclosure, the gearbox assembly includes adrive input configured to receive a rotational input from the roboticsurgical system and an input shaft operably coupled to the drive inputand the knife tube. The drive input is configured to drive rotation ofthe input shaft in response to rotational input received by the driveinput to translate the knife tube.

In another aspect of the present disclosure, the gearbox assemblyincludes an input gear, a central gear, and a lead screw. The input gearis engaged to a distal end portion of the input shaft. Rotational inputprovided to the drive input drives rotation of the input shaft when theknife blade lock is in the unlocked position to drive rotation of theinput gear. The central gear defines an internal threading and anexternal threading in meshed engagement with the input gear. The leadscrew extends through the central gear and is threadingly engaged withthe internal threading of the central gear. Rotation of the central gearin response to rotational input provided to the drive input translatesthe lead screw to translate the knife tube, thereby moving the knifeblade to cut tissue.

In yet another aspect of the present disclosure, the knife blade lockdefines a plurality of teeth configured to interlock with a plurality ofteeth defined by the drive input when the knife blade lock is in thelocked position.

BRIEF DESCRIPTION OF THE DRAWINGS

Various aspects and features of the present disclosure are describedhereinbelow with reference to the drawings wherein like numeralsdesignate identical or corresponding elements in each of the severalviews.

FIG. 1A is a perspective view of a surgical instrument provided inaccordance with the present disclosure configured for mounting on arobotic arm of a robotic surgical system;

FIG. 1B is an enlarged, perspective view of the area of detail indicatedas “1B” in FIG. 1A, illustrating an end effector assembly of thesurgical instrument of FIG. 1A with one of the jaw members thereofremoved;

FIG. 2A is a front, perspective view of a proximal portion of thesurgical instrument of FIG. 1A with an outer shell removed;

FIG. 2B is a rear, perspective view of the proximal portion of thesurgical instrument of FIG. 1 with the outer shell removed;

FIG. 3 is a front, perspective view of the proximal portion of thesurgical instrument of FIG. 1 with the outer shell and additionalinternal components removed;

FIG. 4 is a schematic illustration of an exemplary robotic surgicalsystem configured to releasably receive the surgical instrument of FIG.1 ;

FIG. 5 is an enlarged, perspective view of the area of detail “5” inFIG. 2B;

FIG. 6 is an enlarged, perspective view illustrating a drive input ofthe surgical instrument of FIG. 1 ;

FIG. 7 is an enlarged, perspective view illustrating a knife blade lockof the surgical instrument of FIG. 1 ;

FIG. 8 is a transverse, cross-sectional view taken along section line“8-8” of FIG. 2B;

FIG. 9A is an enlarged, perspective view of the area of detail “9A” inFIG. 8 illustrating the knife blade lock in a locked position; and

FIG. 9B is an enlarged, perspective view of the area of detail “9B” inFIG. 8 illustrating an instrument interface of the exemplary roboticsurgical system of FIG. 4 operably coupling with a proximal portion ofthe instrument of FIG. 1 to transition the knife blade lock towards anunlocked position.

DETAILED DESCRIPTION

Referring to FIGS. 1A-3 , a surgical instrument 10 provided inaccordance with the present disclosure generally includes a housing 20,a shaft 30 extending distally from housing 20, an end effector assembly40 extending distally from shaft 30, and a gearbox assembly 100 disposedwithin housing 20 and operably associated with end effector assembly 40.Instrument 10 is detailed herein as an articulating electrosurgicalforceps configured for use with a robotic surgical system, e.g., roboticsurgical system 1000 (FIG. 4 ). However, the aspects and features ofinstrument 10 provided in accordance with the present disclosure,detailed below, are equally applicable for use with other suitablesurgical instruments and/or in other suitable surgical systems.

With particular reference to FIG. 1A, housing 20 of instrument 10includes first and second body portion 22 a, 22 b and a proximal faceplate 24 that cooperate to enclose gearbox assembly 100 therein.Proximal face plate 24 includes apertures defined therein through whichdrive inputs 110-140 of gearbox assembly 100 extend. A pair of latchlevers 26 (only one of which is illustrated in FIG. 1 ) extendingoutwardly from opposing sides of housing 20 enable releasable engagementof housing 20 with a robotic arm of a surgical system, e.g., roboticsurgical system 1000 (FIG. 4 ). An aperture 28 defined through housing20 permits thumbwheel 440 to extend therethrough to enable manualmanipulation of thumbwheel 440 from the exterior of housing 20 to, asdetailed below, permit manual opening and closing of end effectorassembly 40.

Shaft 30 of instrument 10 includes a distal segment 32, a proximalsegment 34, and an articulating section 36 disposed between the distaland proximal segments 32, 34, respectively. Articulating section 36includes one or more articulating components 37, e.g., links, joints,etc. A plurality of articulation cables 38, e.g., four (4) articulationcables, or other suitable actuators, extend through articulating section36. More specifically, articulation cables 38 are operably coupled todistal segment 32 of shaft 30 at the distal ends thereof and extendproximally from distal segment 32 of shaft 30, through articulatingsection 36 of shaft 30 and proximal segment 34 of shaft 30, and intohousing 20, wherein articulation cables 38 operably couple with anarticulation sub-assembly 200 of gearbox assembly 100 to enableselective articulation of distal segment 32 (and, thus end effectorassembly 40) relative to proximal segment 34 and housing 20, e.g., aboutat least two axes of articulation (yaw and pitch articulation, forexample). Articulation cables 38 are arranged in a generally rectangularconfiguration, although other suitable configurations are alsocontemplated.

With respect to articulation of end effector assembly 40 relative toproximal segment 34 of shaft 30, articulation cables 38 are actuated inpairs. More specifically, in order to pitch end effector assembly 40,the upper pair of cables 38 are actuated in a similar manner while thelower pair of cables 38 are actuated in a similar manner relative to oneanother but an opposite manner relative to the upper pair of cables 38.With respect to yaw articulation, the right pair of cables 38 areactuated in a similar manner while the left pair of cables 38 areactuated in a similar manner relative to one another but an oppositemanner relative to the right pair of cables 38.

With reference to FIGS. 1A and 1B, end effector assembly 40 includesfirst and second jaw members 42, 44, respectively. Each jaw member 42,44 includes a proximal flange portion 43 a, 45 a and a distal bodyportion 43 b, 45 b, respectively. Distal body portions 43 b, 45 b defineopposed tissue-contacting surfaces 46, 48, respectively. Proximal flangeportions 43 a, 45 a are pivotably coupled to one another about a pivot50 and are operably coupled to one another via a cam-slot assembly 52including a cam pin slidably received within cam slots defined withinthe proximal flange portion 43 a, 45 a of at least one of the jawmembers 42, 44, respectively, to enable pivoting of jaw member 42relative to jaw member 44 and distal segment 32 of shaft 30 between aspaced-apart position (e.g., an open position of end effector assembly40) and an approximated position (e.g. a closed position of end effectorassembly 40) for grasping tissue between tissue-contacting surfaces 46,48. As an alternative to this unilateral configuration, a bilateralconfiguration may be provided whereby both jaw members 42, 44 arepivotable relative to one another and distal segment 32 of shaft 30.

Longitudinally-extending knife channels 49 (only knife channel 49 of jawmember 44 is illustrated; the knife channel of jaw member 42 issimilarly configured) are defined through tissue-contacting surfaces 46,48, respectively, of jaw members 42, 44. A knife assembly 60 including aknife tube 62 extending from housing 20 through shaft 30 to end effectorassembly 40 and a knife blade 64 disposed within end effector assembly40 between jaw members 42, 44 is provided to enable cutting of tissuegrasped between tissue-contacting surfaces 46, 48 of jaw members 42, 44,respectively. Knife tube 62 is operably coupled to a knife drivesub-assembly 300 of gearbox assembly 100 (FIGS. 2A-2B) at a proximal endthereof to enable selective actuation thereof to, in turn, move theknife blade 64 (e.g., longitudinally along a longitudinal axis definedby shaft 30) between jaw members 42, 44 to cut tissue grasped betweentissue-contacting surfaces 46, 48.

Referring still to FIG. 1A, a drive rod 484 is operably coupled tocam-slot assembly 52 of end effector assembly 40, e.g., engaged with thecam pin thereof, such that longitudinal actuation of drive rod 484pivots jaw member 42 relative to jaw member 44 between the spaced-apartand approximated positions. More specifically, urging drive rod 484proximally pivots jaw member 42 relative to jaw member 44 towards theapproximated position while urging drive rod 484 distally pivots jawmember 42 relative to jaw member 44 towards the spaced-apart position.However, other suitable mechanisms and/or configurations for pivotingjaw member 42 relative to jaw member 44 between the spaced-apart andapproximated positions in response to selective actuation of drive rod484 are also contemplated. Drive rod 484 extends proximally from endeffector assembly 40 through shaft 30 and into housing 20 wherein driverod 484 is operably coupled with a jaw drive sub-assembly 400 of gearboxassembly 100 (FIGS. 2A-2B) to enable selective actuation of end effectorassembly 40 to grasp tissue therebetween.

Tissue-contacting surfaces 46, 48 of jaw members 42, 44, respectively,are at least partially formed from an electrically conductive materialand are energizable to different potentials to enable the conduction ofelectrical energy through tissue grasped therebetween, althoughtissue-contacting surfaces 46, 48 may alternatively be configured tosupply any suitable energy, e.g., thermal, microwave, light, ultrasonic,ultrasound, etc., through tissue grasped therebetween for energy-basedtissue treatment. Instrument 10 defines a conductive pathway (not shown)through housing 20 and shaft 30 to end effector assembly 40 that mayinclude lead wires, contacts, and/or electrically-conductive componentsto enable electrical connection of tissue-contacting surfaces 46, 48 ofjaw members 42, 44, respectively, to an energy source (not shown), e.g.,an electrosurgical generator, for supplying energy to tissue-contactingsurfaces 46, 48 to treat, e.g., seal, tissue grasped betweentissue-contacting surfaces 46, 48.

With additional reference to FIGS. 2A, 2B, and 3 , gearbox assembly 100is disposed within housing 20 and includes an articulation sub-assembly200, a knife drive sub-assembly 300, and a jaw drive sub-assembly 400.Articulation sub-assembly 200 is operably coupled between first andsecond drive inputs 110, 120, respectively, of gearbox assembly 100 andarticulation cables 38 (FIG. 1A) such that, upon receipt of appropriateinputs into first and/or second drive inputs 110, 120, articulationsub-assembly 200 manipulates cables 38 (FIG. 1A) to articulate endeffector assembly 40 in a desired direction, e.g., to pitch and/or yawend effector assembly 40.

Knife drive sub-assembly 300 is operably coupled between third driveinput 130 of gearbox assembly 100 and knife tube 62 such that, uponreceipt of appropriate input into third drive input 130, knife drivesub-assembly 300 manipulates knife tube 62 to move knife blade 64 (FIG.1B) between jaw members 42, 44 to cut tissue grasped betweentissue-contacting surfaces 46, 48.

Jaw drive sub-assembly 400 is operably coupled between fourth driveinput 140 of gearbox assembly 100 and drive rod 484 such that, uponreceipt of appropriate input into fourth drive input 140, jaw drivesub-assembly 400 pivots jaw members 42, 44 between the spaced-apart andapproximated positions to grasp tissue therebetween.

Gearbox assembly 100 is configured to operably interface with a roboticsurgical system 1000 (FIG. 4 ) when instrument 10 is mounted on roboticsurgical system 1000 (FIG. 4 ), to enable robotic operation of gearboxassembly 100 to provide the above-detailed functionality. That is,robotic surgical system 1000 (FIG. 4 ) selectively provides inputs todrive inputs 110-140 of gearbox assembly 100 to articulate end effectorassembly 40, grasp tissue between jaw members 42, 44, and/or cut tissuegrasped between jaw members 42, 44. However, it is also contemplatedthat gearbox assembly 100 be configured to interface with any othersuitable surgical system, e.g., a manual surgical handle, a poweredsurgical handle, etc. For the purposes herein, robotic surgical system1000 (FIG. 4 ) is generally described.

Turning to FIG. 4 , robotic surgical system 1000 is configured for usein accordance with the present disclosure. Aspects and features ofrobotic surgical system 1000 not germane to the understanding of thepresent disclosure are omitted to avoid obscuring the aspects andfeatures of the present disclosure in unnecessary detail.

Robotic surgical system 1000 generally includes a plurality of robotarms 1002, 1003; a control device 1004; and an operating console 1005coupled with control device 1004. Operating console 1005 may include adisplay device 1006, which may be set up in particular to displaythree-dimensional images; and manual input devices 1007, 1008, by meansof which a person, e.g., a surgeon, may be able to telemanipulate robotarms 1002, 1003 in a first operating mode. Robotic surgical system 1000may be configured for use on a patient 1013 lying on a patient table1012 to be treated in a minimally invasive manner. Robotic surgicalsystem 1000 may further include a database 1014, in particular coupledto control device 1004, in which are stored, for example, pre-operativedata from patient 1013 and/or anatomical atlases.

Each of the robot arms 1002, 1003 may include a plurality of members,which are connected through joints, and mounted device which may be, forexample, a surgical tool “ST.” One or more of the surgical tools “ST”may be instrument 10 (FIG. 1A), thus providing such functionality on arobotic surgical system 1000.

Robot arms 1002, 1003 may be driven by electric drives, e.g., motors,connected to control device 1004. Control device 1004, e.g., a computer,may be configured to activate the motors, in particular by means of acomputer program, in such a way that robot arms 1002, 1003, and, thus,their mounted surgical tools “ST” execute a desired movement and/orfunction according to a corresponding input from manual input devices1007, 1008, respectively. Control device 1004 may also be configured insuch a way that it regulates the movement of robot arms 1002, 1003and/or of the motors.

With reference to FIGS. 5-9B, a knife blade lock 132 is operably coupledto third drive input 130 and serves to prevent manipulation of knifetube 62 and thus, movement of knife blade 64 between jaw members 42, 44until gearbox assembly 100 is operably interfaced with a suitableinstrument interface of robotic surgical system 1000 (e.g., roboticsurgical system 1000 shown in FIG. 4 may include an instrument interface1001 shown schematically in FIG. 9B) to provide rotational input todrive inputs 110-140. Knife blade lock 132 includes an annular bodyportion 136 disposed within housing 20. The annular body portion 136defines an aperture 134 therethrough configured to receive a pair ofdistally extending fingers 126 a, 126 b of drive input 130 therethrough.A plurality of protrusions, e.g., four (4) protrusions 142 a-d, extendproximally from annular body portion 136 through the aperture defined inproximal face plate 24 through which drive input 130 extends. Aplurality of teeth 138 are defined along an inner surface of bodyportion 136 and are configured to releasably interlock with a pluralityof teeth 128 defined by drive input 130 to prevent rotation of driveinput 130. The knife blade lock 132 is movable relative to proximal faceplate 24 between a locked position (FIG. 9A) and an unlocked position(FIG. 9B). As shown in FIGS. 8 and 9A, knife blade lock 132 is biasedproximally into the locked position by a biasing member 135 (e.g., awave spring, a coil spring, or the like) operably coupled to knife bladelock 132 and disposed within housing 20. When knife blade lock 132 is inthe locked position, teeth 128 of drive input 130 are interlocked withteeth 138 of knife blade lock 132 to prevent rotation of drive input 130and protrusions 142 a-d extend distally from proximal face plate 24.When knife blade lock 132 is in the unlocked position, protrusions 142a-d are depressed into the aperture defined in proximal face plate 24through which protrusions 142 a-d extend to move teeth 138 of knifeblade lock 132 out of interlocking engagement with teeth 128 of driveinput 130 such that drive input 130 is free to rotate and drive rotationof input shaft 310. As shown in FIG. 9B, surgical instrument 10 may beoperably coupled to robotic surgical system 1000 via coupling of aproximal portion of surgical instrument 10, including proximal faceplate 24, to instrument interface 1001, which causes instrumentinterface 1001 to engage and depress protrusions 142 a-d against thebias of biasing member 135 into the aperture defined in proximal faceplate 24 through which protrusions 142 a-d extend, thereby moving knifeblade lock 132 distally to move teeth 138 of knife blade lock 132distally and out of interlocking engagement with teeth 128 of driveinput 130. With teeth 138 of knife blade lock 132 out of interlockingengagement with teeth 128 of drive input 130, drive input 130 is free torotate and drive rotation of input shaft 310 to manipulate knife tube 62to move knife blade 64 (FIG. 1B) between jaw members 42, 44 to cuttissue grasped between tissue-contacting surfaces 46, 48. Upondecoupling of instrument interface 1001 from surgical instrument 10, thebias of biasing member 135 imparted on knife blade lock 132 returnsknife blade lock 132 to the locked position. In this manner, knife blade64 will not be permitted to move prior to interfacing surgicalinstrument 10 with robotic surgical system 1000. As those skilled in theart will appreciate, preventing inadvertent movement and/or exposure ofthe knife blade 64 will serve to prevent medical staff from being cut bythe knife blade 64 during transit and/or handling of surgical instrument10. In some embodiments, teeth 128 and/or teeth 138 may have a taperedramp configuration such that, should inadvertent movement and/orexposure of knife blade 64 occur, drive input 130 can be rotatedrelative to knife blade lock 132 to move the knife blade 64 out of anexposed position (e.g., between jaw members 42, 44) while knife bladelock 132 is in the locked position.

With reference to FIGS. 2A-3 and 8 , jaw drive sub-assembly 400 ofgearbox assembly 100 is shown generally including an input shaft 410, aninput gear 420, a drive gear 430, a thumbwheel 440, and a spring forceassembly 450.

Input shaft 410 includes a proximal end portion 412 operably coupled tofourth drive input 140 and a distal end portion 414 having input gear420 engaged thereon such that rotational input provided to fourth driveinput 140 drives rotation of input shaft 410 to, thereby, drive rotationof input gear 420. Input gear 420 is disposed in meshed engagement withdrive gear 430 such that rotation of input gear 420, e.g., in responseto a rotational input provided at fourth drive input 140, effectsrotation of drive gear 430 in an opposite direction. Thumbwheel 440 isalso disposed in meshed engagement with drive gear 430 such thatrotation of thumbwheel 440 effects rotation of drive gear 430 in anopposite direction, thus enabling manual driving of drive gear 430 viamanipulation of thumbwheel 440. Drive rod 484 includes a distal endportion operably coupled to cam-slot assembly 52 of end effectorassembly 40 (FIG. 1A). Drive rod 484 extends proximally through shaft30, housing 20, and gearbox assembly 100 (see FIG. 8 ).

Turning to FIGS. 3 and 8 , knife drive sub-assembly 300 includes aninput shaft 310, an input gear 320, a central gear 330 defining externalthreading and internal threading, and a lead screw 340. Input shaft 310extends parallel and offset relative to input shaft 410 and includes aproximal end portion 312 operably coupled to third drive input 130 ofgearbox assembly 100 (FIGS. 2A and 2B) and a distal end portion 314having input gear 320 engaged thereon such that rotational inputprovided to third drive input 130 drives rotation of input shaft 310when knife blade lock 132 is in the unlocked position to, thereby, driverotation of input gear 320. Input gear 320 is disposed in meshedengagement with the external threading of central gear 330. Central gear330 is coaxial with and positioned distally of drive gear 430. Leadscrew 340 extends through central gear 330 and is threadingly engagedwith the internal threading thereof such that rotation of central gear330, e.g., in response to a rotational input provided to third driveinput 130, translates lead screw 340. Lead screw 340 is fixedly engagedabout a proximal end portion of knife tube 62 such that translation oflead screw 340 translates knife tube 62 to thereby move the knife blade64 between jaw members 42, 44 (FIGS. 1A and 1B). Lead screw 340 andknife tube 62 are coaxially disposed about drive rod 484. When knifeblade lockout 132 is in the locked position, third drive input 130 isunable to rotate due to interlocking engagement between teeth 138 ofknife blade lock 132 and thus, third drive input 130 is prevented fromdriving rotation of input shaft 310 to move knife blade 64 between jawmembers 42, 44 (FIGS. 1A and 1B).

It will be understood that various modifications may be made to theembodiments disclosed herein. Therefore, the above description shouldnot be construed as limiting, but merely as exemplifications of variousembodiments. Those skilled in the art will envision other modificationswithin the scope and spirit of the claims appended thereto.

1-20. (canceled)
 21. A surgical instrument for use with a roboticsurgical system, comprising: a housing; a shaft extending distally fromthe housing; a pair of jaw members disposed at a distal end of the shaftand configured to grasp tissue; a knife blade configured to cut tissuegrasped between the pair of jaw members; a drive input disposed withinthe housing and configured to receive an input from a robotic surgicalsystem to translate the knife blade; and a knife blade lock operablycoupled to the drive input and defining an aperture through which atleast a portion of the drive input extends, the knife blade lockconfigured to transition between a locked configuration wherein theknife blade lock engages the drive input to prevent the drive input fromcausing translation of the knife blade and an unlocked configurationwherein the knife blade lock is disengaged from the drive input topermit the drive input to cause translation of the knife blade.
 22. Thesurgical instrument according to claim 21, further comprising an inputshaft operably coupled to the drive input, the drive input configured tocause the input shaft to translate the knife blade in response to theinput received by the drive input from the robotic surgical system. 23.The surgical instrument according to claim 22, further comprising agearbox assembly including: an input gear engaged to a distal endportion of the input shaft, wherein the input provided to the driveinput from the robotic surgical system drives rotation of the inputshaft when the knife blade lock is in the unlocked configuration todrive rotation of the input gear; a central gear defining an internalthreading and an external threading in meshed engagement with the inputgear; and a lead screw extending through the central gear andthreadingly engaged with the internal threading of the central gear,wherein rotation of the central gear in response to the input providedto the drive input from the robotic surgical system translates the leadscrew to translate the knife blade.
 24. The surgical instrumentaccording to claim 21, further comprising a biasing member disposedwithin the housing and operably coupled to the knife blade lock, thebiasing member configured to bias the knife blade lock into the lockedconfiguration.
 25. The surgical instrument according to claim 21,wherein the knife blade lock includes an annular body portionsurrounding the aperture.
 26. The surgical instrument according to claim25, wherein the knife blade lock includes a plurality of protrusionsextending from the annular body portion.
 27. The surgical instrumentaccording to claim 26, wherein the plurality of protrusions extendproximally from a proximal end of the housing when the knife blade lockis in the locked configuration.
 28. The surgical instrument according toclaim 21, wherein the knife blade lock defines a plurality of teethconfigured to interlock with a plurality of teeth defined by the driveinput when the knife blade lock is in the locked configuration.
 29. Thesurgical instrument according to claim 21, wherein the knife blade lockis configured to be contacted by a surgical instrument interface of therobotic surgical system upon coupling of the surgical instrument to therobotic surgical system to transition the knife blade lock to theunlocked configuration.
 30. The surgical instrument according to claim21, wherein the shaft includes an articulating section configured toarticulate the pair of jaw members.
 31. A surgical instrument for usewith a robotic surgical system, comprising: a knife blade configured tocut tissue; a knife tube coupled to the knife blade and configured totranslate to move the knife blade for cutting tissue; a drive inputconfigured to receive an input from a robotic surgical system; and aknife blade lock operably coupled to the drive input and defining anaperture through which at least a portion of the drive input extends,the knife blade lock configured to transition between a lockedconfiguration wherein the knife blade lock engages the drive input toprevent the drive input from causing translation of the knife tube andan unlocked configuration wherein the knife blade lock is disengagedfrom the drive input to permit the drive input to cause translation ofthe knife tube.
 32. The surgical instrument according to claim 31,further comprising an input shaft operably coupled to the drive input,the drive input configured to cause the input shaft to translate theknife tube in response to the input received by the drive input from therobotic surgical system.
 33. The surgical instrument according to claim32, further comprising a gearbox assembly including: an input gearengaged to a distal end portion of the input shaft, wherein the inputprovided to the drive input from the robotic surgical system drivesrotation of the input shaft when the knife blade lock is in the unlockedconfiguration to drive rotation of the input gear; a central geardefining an internal threading and an external threading in meshedengagement with the input gear; and a lead screw extending through thecentral gear and threadingly engaged with the internal threading of thecentral gear, wherein rotation of the central gear in response to theinput provided to the drive input from the robotic surgical systemtranslates the lead screw to translate the knife tube.
 34. The surgicalinstrument according to claim 31, further comprising a biasing memberoperably coupled to the knife blade lock and configured to bias theknife blade lock into the locked configuration.
 35. The surgicalinstrument according to claim 31, wherein the knife blade lock includesan annular body portion surrounding the aperture.
 36. The surgicalinstrument according to claim 35, wherein the knife blade lock includesa plurality of protrusions extending from the annular body portion. 37.The surgical instrument according to claim 31, wherein the knife bladelock defines a plurality of teeth configured to interlock with aplurality of teeth defined by the drive input when the knife blade lockis in the locked configuration.
 38. The surgical instrument according toclaim 31, wherein the knife blade lock is configured to be contacted bya surgical instrument interface of the robotic surgical system uponcoupling of the surgical instrument to the robotic surgical system totransition the knife blade lock to the unlocked configuration.
 39. Thesurgical instrument according to claim 31, wherein the portion of thedrive input that extends through the aperture defined by the knife bladelock includes a distally-extending finger.
 40. A surgical instrument foruse with a robotic surgical system, comprising: an end effectorassembly; a knife blade configured to translate through the end effectorassembly to cut tissue; a drive input configured to receive an inputfrom a robotic surgical system to translate the knife blade; and a knifeblade lock defining an aperture through which at least a portion of thedrive input extends, wherein the knife blade lock is configured toreleasably engage the drive input to prevent the drive input fromcausing translation of the knife blade.